Vehicle travel path generation device and method for generating a vehicle travel path

Abstract

In order to generate an improved travel path with sufficient accuracy, a vehicle travel path generation device includes a first travel path generation part (60) which approximates a lane on which a host vehicle (1) travels to output first travel path information, a second travel path generation part (70) which approximates a road division line ahead of the host vehicle (1) to output second travel path information, a travel path weight setting part (90) which sets a weight between the first travel path information and the second travel path information, and an integrated path generation part (100) which generates an integrated path information using the first travel path information, the second travel path information, and the weight by the travel path weight setting part (90), wherein the travel path weight setting part (90) sets the weight, on the basis of at least one of outputs from a bird's-eye view detection travel path weight setting part (91), a vehicle state weight setting part (92), a path distance weight setting part (93) and a peripheral environment weight setting part (94).

1 . A vehicle travel path generation device, comprising
 a first travel path generator which approximates a lane on which a host vehicle travels to output as first travel path information,   a second travel path generator which approximates a road division line ahead of the host vehicle to output as second travel path information,   a travel path weight setter which sets a weight denoting a certainty between the first travel path information and the second travel path information, and   an integrated travel path generator which generates an integrated travel path information, using the first travel path information, the second travel path information, and the weight by the travel path weight setter,   wherein the travel path weight setter sets the weight, on the basis of at least one of outputs from a bird's-eye view detection travel path weight setter, a vehicle state weight setter, a path distance weight setter, and a peripheral environment weight setter,   where the bird's-eye view detection travel path weight setter computes a weight between the first travel path information and the second travel path information, on the basis of the first travel path information,   the vehicle state weight setter computes a weight between the first travel path information and the second travel path information, on the basis of a state of the host vehicle,   the path distance weight computes a weight between the first travel path information and the second travel path information, on the basis of a distance of a travel path of the second travel path information, and   the peripheral environment weight setter computes a weight between the first travel path information and the second travel path information, on the basis of a peripheral road environment of the host vehicle.   
     
     
         2 . The vehicle travel path generation device according to  claim 1 ,
 wherein, among the first travel path information, the weight is set on the basis of a magnitude of a curvature component of the travel path, a magnitude of an angular component between the travel path and the host vehicle, and a magnitude of a lateral position component between the travel path and the host vehicle, and   when the magnitude of the curvature component is larger than a first threshold value, the bird's-eye view detection travel path weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information,   when the magnitude of the curvature component is smaller than the first threshold value, and in addition, the magnitude of the angular component is larger than a second threshold value, the bird's-eye view detection travel path weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information, and   when the magnitude of the curvature component is smaller than the first threshold value, and in addition, the magnitude of the angular component is smaller than the second threshold value, and in addition the magnitude of the lateral position component is larger than a third threshold value, the bird's-eye view detection travel path weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information.   
     
     
         3 . The vehicle travel path generation device according to  claim 1 ,
 wherein, when a magnitude of a vehicle pitch angle obtained with a vehicle sensor is larger than a fourth threshold value, the vehicle state weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information.   
     
     
         4 . The vehicle travel path generation device according to  claim 1 ,
 wherein, when a second travel path distance of the second travel path information is shorter than a fifth threshold value, the path distance weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information.   
     
     
         5 . The vehicle travel path generation device according to  claim 1 ,
 wherein, when a change of a path slope ahead of the host vehicle is larger than a sixth threshold value, the peripheral environment weight setter sets the weight for the second travel path information to be smaller than the weight for the first travel path information.   
     
     
         6 . The vehicle travel path generation device according to  claim 1 ,
 wherein the travel path weight setter computes the weight between the first travel path information and the second travel path information, according to the following Equation.   
       [Equation 19]
   Eq. 19 
     W   total_n_cx   =W   bird_n_cx   ×W   sens_n_cx   ×W   dist_n_cx   ×W   map_n_cx   ×W   status_n_cx (n=1,2, x= 0,1,2,3)  (Equation 19)
 
 
     
     
         7 . The vehicle travel path generation device according to  claim 1 ,
 wherein the first travel path information and the second travel path information are constituted by a curvature component of a travel path, an angular component between the host vehicle and the travel path, and a lateral position component between the host vehicle and the travel path,   the weight of the first travel path information and the weight of the second travel path information, which are output from the travel path weight setter, are the ones set as weights to each of the curvature component, the angular component, and the lateral position component, which are by the first travel path information and the second travel path information.   
     
     
         8 . The vehicle travel path generation device according to  claim 1 , further comprising a vehicle controller which controls the host vehicle, on the basis of the first travel path information and the second travel path information. 
     
     
         9 . A method for generating a vehicle travel path, comprising
 a first step for recognizing a travel path on which a host vehicle travels in a bird's-eye view, and outputting first travel path information,   a second step for including information on a periphery travel path of the host vehicle,   a third step for detecting a shape of the travel path on which the host vehicle travels,   a fourth step for detecting a traveling state of the host vehicle,   a fifth step for computing a weight from an output of the fourth step,   a sixth step for receiving the information of the third step, and outputting a second travel path information, and   a seventh step for generating an integrated travel path information, on the basis of an output information of a travel path weight setter, the first travel path information, and the second travel path information, where the travel path weight setter sets a weight denoting a certainty between the first travel path information and the second travel path information   wherein, in the seventh step, the weight is set on the basis of at least one of outputs of an eighth step, a ninth step, a tenth step, and an eleventh step,   where in the eighth step, a weight between the first travel path information and the second travel path information is computed on the basis of the first travel path information,   in the ninth step, a weight between the first travel path information and the second travel path information is computed on the basis of a state of the host vehicle,   in the tenth step, a weight between the first travel path information and the second travel path information is computed on the basis of a distance of a travel path of the second travel path information, and   in the eleventh step, a weight between the first travel path information and the second travel path information is computed on the basis of a peripheral road environment of the host vehicle.   
     
     
         10 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein, among the first travel path information, the weight is set on the basis of a magnitude of a curvature component of the travel path, a magnitude of an angular component between the travel path and the host vehicle, and a magnitude of a lateral position component between the travel path and the host vehicle,   when the magnitude of the curvature component is larger than a first threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the eighth step,   when the magnitude of the curvature component is smaller than the first threshold value, and in addition, the magnitude of the angular component is larger than a second threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the eighth step, and   when the magnitude of the curvature component is smaller than the first threshold value, and in addition, the magnitude of the angular component is smaller than a second threshold value, and in addition, the magnitude of the lateral position component is larger than a third threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the eighth step.   
     
     
         11 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein, when a magnitude of a vehicle pitch angle obtained with a vehicle sensor is larger than a fourth threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the ninth step.   
     
     
         12 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein, when a second travel path distance, namely, a distance of a travel path of the second travel path information is shorter than a fifth threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the tenth step.   
     
     
         13 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein, when the change of the path slope ahead of the host vehicle is larger than a sixth threshold value, the weight for the second travel path information is set to be smaller than the weight for the first travel path information in the eleventh step.   
     
     
         14 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein the weight between the first travel path information and the second travel path information is computed according to the following Equation in the seventh step.   
       [Equation 20]
   Eq. 20 
     W   total_n_cx   =W   bird_n_cx   ×W   sens_n_cx   ×W   dist_n_cx   ×W   map_n_cx   ×W   status_n_cx ( n= 1,2, x= 0,1,2,3)  (Equation 20)
 
 
     
     
         15 . The method for generating a vehicle travel path according to  claim 9 ,
 wherein the first travel path information and the second travel path information are constituted by a curvature component of a travel path, an angular component between the host vehicle and the travel path, and a lateral position component between the host vehicle and the travel path, and   the weight for the first travel path information and the weight for the second travel path information, which are output from the seventh step, are set as weights of the curvature component, the angular component, and the lateral position component, for the first travel path information and the second travel path information.   
     
     
         16 . The method for generating a vehicle travel path according to  claim 9 ,
 comprising a twelfth step for controlling the host vehicle, on the basis of a target path which is generated by the method for generating a vehicle travel path therein.